VREP Camera Calibration

This is a VREP scene driven by Lua script to automatically calibrate vision sensors using a robot arm.

Prerequisits

Clone vrep_comman and vrep_plugin to catkin_ws and do catkin_make. Make sure to add link_directories in CMakeLists.txt in vrep_plugin, so that catkin_make works for ROS Melodic. Then copy devel/lib/libv_repExtRos.so to the main CoppeliaSim folder.
Put table_save_load.lua in the main CoppeliaSim folder.
Install camera_calibration package using

rosdep install camera_calibration

Change the path variable in the scripts associate to Plane and LBR_iiwa_7_R800. It's where you want to save table of waypoints. To use pre-recorded waypoints which are enough for the calibration, change the path to the location of test-tbl.lua
Run calibrate_camera.ttt. To adjust joint angles, use the slide bars. To load, record, save, or play waypoints, use the buttons. Make sure to save the waypoints before playing.
Follow the camera_calibration tutorial and run

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0969 image:=/camera/image_raw camera:=/camera --no-service-check